public GazeControl(string ip, int port)
: this()
{
gazemotions = new GazeMotion(ip, port);
player = new AudioPlayerProxy(ip, port);
gazemotions.type = GazeMotion.gazeType.intimacy;
gazemotions.mode = GazeMotion.gazeMood.listening;
}
private void Connect() {
Console.WriteLine("Looking for NAO's host '" + robotAddress + "'...");
IPAddress[] ip = Dns.GetHostAddresses(robotAddress);
if (ip.Length == 0)
{
Console.WriteLine("Unable to find host '" + robotAddress + "'");
Thread.Sleep(2000);
}
else
{
foreach (IPAddress i in ip)
{
if (i.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
{
ipAddress = i.ToString();
break;
}
}
Console.WriteLine("Resolved '" + robotAddress + "' as " + ipAddress + "!");
audioProxy = new AudioPlayerProxy(ipAddress, 9559);
Console.WriteLine("Created AudioPlayer proxy.");
var files = Directory.EnumerateFiles(@"wav", "*.mp3", SearchOption.AllDirectories);
sounds.Clear();
lstCategories.Invoke((MethodInvoker)(() =>
{
lstCategories.Items.Clear();
lstFiles.Items.Clear();
lstCategories.SelectedItem = null;
lstFiles.Enabled = false;
btnPlayRandom.Enabled = false;
}));
foreach (string file in files)
{
string category = Path.GetDirectoryName(file).Substring(Path.GetDirectoryName(file).LastIndexOf(Path.DirectorySeparatorChar)+1);
string sound = Path.GetFileNameWithoutExtension(file);
if (!sounds.ContainsKey(category))
{
sounds[category] = new Dictionary<string, int>();
lstCategories.Invoke((MethodInvoker)(() =>
{
lstCategories.Items.Add(String.Format("[Shift+{0}]:{1}", (char) keyIndexes[lstCategories.Items.Count], category));
}));
}
int soundId = -1;
try {
soundId = audioProxy.loadFile("/var/persistent/home/nao/wav/" + category + "/" + sound + ".mp3");
Console.WriteLine("Loaded file '" + category + "/" + sound + ".mp3'");
}catch (Exception e) {
Console.WriteLine("Unable to load file '" + category + "/" + sound + ".mp3': " + e.Message + (e.InnerException!=null?": " + e.InnerException.Message:""));
}
if (soundId != -1)
{
sounds[category][sound] = soundId;
}
else if (sounds[category].ContainsKey(sound))
{
sounds[category].Remove(sound);
}
}
behaviorProxy = new BehaviorManagerProxy(ipAddress, 9559);
Console.WriteLine("Created BehaviorManager proxy.");
if (behaviorProxy.isBehaviorPresent(idleBehavior))
{
if (!behaviorProxy.isBehaviorRunning(idleBehavior))
{
behaviorProxy.post.runBehavior(idleBehavior);
}
}
Status = NaoStatus.Standby;
}
}
